Multi-joint robot

Abstract

A multi-joint robot includes: a base; a first arm connected to the base via a first joint shaft and configured to pivot in a horizontal direction with respect to the base; a second arm connected to the first arm via a second joint shaft and configured to pivot in a horizontal direction with respect to the first arm; a first rotation driving device configured to rotationally drive the first joint shaft; a second rotation driving device configured to rotationally drive the second joint shaft; a moving device configured to move the base in an axial direction of the first joint shaft; and a control device configured to control the first driving device, the second driving device, and the moving device.

1 . A multi-joint robot comprising:
 a base;   a first arm connected to the base via a first joint shaft and configured to pivot in a horizontal direction with respect to the base;   a second arm connected to the first arm via a second joint shaft and configured to pivot in a horizontal direction with respect to the first arm;   a first rotation driving device configured to rotationally drive the first joint shaft;   a second rotation driving device configured to rotationally drive the second joint shaft;   a moving device configured to move the base in an axial direction of the first joint shaft; and   a control device configured to control the first driving device, the second driving device, and the moving device.   
     
     
         2 . The multi-joint robot according to  claim 1 , further comprising:
 a rotary three-axis mechanism disposed at a distal end of the second arm.   
     
     
         3 . The multi-joint robot according to  claim 2 ,
 wherein the rotary three-axis mechanism is attached to the distal end of the second arm via a third j oint shaft parallel to the first and second joint shafts,   the multi-joint robot further comprises a third rotation driving device configured to rotationally drive the third j oint shaft, and   the control device controls the third rotation driving device so that the rotary three-axis mechanism is held in a fixed orientation regardless of rotational positions of the first and second joint shafts.   
     
     
         4 . The multi-joint robot according to  claim 1 ,
 wherein two operation modes are provided in which orientations of the first and second arms have a mirror image relationship with each other with respect to a plane including the first joint shaft and a distal end of the second arm.   
     
     
         5 . The multi-joint robot according to  claim 4 ,
 wherein the control device selects and executes an operation mode that does not interfere with an interference object out of the two operation modes.   
     
     
         6 . The multi-joint robot according to  claim 1 ,
 wherein the moving device is a lifting and lowering device configured to lift and lower the base in an up-down direction.